Stable adaptive control for a class of nonlinear systems using amodified Lyapunov function |
| |
Authors: | Zhang T. Ge S.S. Hang C.C. |
| |
Affiliation: | Dept. of Electr. Eng., Nat. Univ. of Singapore ; |
| |
Abstract: | Investigates the adaptive control design for a class of nonlinear systems using Lyapunov's stability theory. The proposed method is developed based on a novel Lyapunov function, which removes the possible controller singularity problem in some of the existing adaptive control schemes using feedback linearization techniques. The resulting closed-loop system is proven to be globally stable, and the output tracking error converges to an adjustable neighborhood of zero |
| |
Keywords: | |
|
|